MA455 Manifolds Solutions 1 May 2008

1. (i) Given real numbers a < b, nd a dieomorphism (a, b) R.

Solution: For example rst map (a, b) to (0, /2) and then map (0, /2) dieomorphically to R using the function
tan.
(ii) Find a dieomorphism (0, ) R.
Solution: Use log : (0, ) R.
(iii) Let f : R R be a smooth map, and let graph(f) be the set (x, y) R R : y = f(x). Show that the map
x (x, f(x)) is a dieomorphism from R to graph(f).
Solution: The map x (x, f(x)) is clearly smooth and has smooth (new) inverse obtained as the restriction to
graph(f) of the smooth (old) projection (x, y) x.
(iv) Let C
0
be the cylinder S
1
(0, ) and let C be the cylinder S
1
R (you can draw both in R
3
). Find
dieomorphisms C
0
R
2
0 and C R
2
0.
Solution: C
0
= (x, y, z) R
2
: x
2
+ y
2
= 1, 0 < z < . Dene a smooth map : C
0
R
2
(0, 0) by
(x, y, z) = (zx, zy). I leave you to nd its inverse. The dieomorphism of (ii) enables you to dene a dieo
C
0
= (0, ) S
1

R S
1
= C, and now
1
is a dieo C R
2
(0, 0).
2. (i) Let
n
be the regular n-simplex
(t
1
, . . ., t
n+1
) R
n+1
:

i
t
i
= 1, t
i
0 for all i.
Draw
2
.
Solution:
(ii) Let B
n
be the set
(x
1
, . . ., x
n
) R
n
: 0 x
1
x
n
1.
Find a dieomorphism B
n

n
. Hint: given (x
1
, . . ., x
n
) B
n
, there is a natural choice of an (n + 1)-tuple of
non-negative numbers with sum equal to 1.
Solution: (x
1
, . . ., x
n
) (x
1
, x
2
x
1
, . . ., x
n
x
n1
, 1 x
n
).
3. Show that if U R
n
is open, f : U R
n
is smooth, and det(d
x
f) ,= 0 for all x U, then f(U) is open in R
n
.
Note that in particular this holds if f : U f(U) is a dieomorphism.
Solution: Use the inverse function theorem.
4. Let X
0
be the subset of R
2
consisting of the three lines x
1
= 0, x
2
= 0 and x
1
= x
2
. Let
1
,
2
and
3
be
any three distinct lines through (0, 0) in R
2
, and let X =
1

2

3
. Find a dieomorphism indeed, a linear
isomorphism taking X
0
to X.
Solution: Let v
1
and v
2
be non-zero vectors lying on
1
and
2
respectively. Dene a linear isomorphism R
2
R
2
by sending (1, 0) to v
2
, (0, 1) to v
1
and extending linearly. This maps x
1
= 0 to
1
, x
2
= 0 to
2
and x
1
= x
2

to a third line. A linear isomorphism whose matrix in the basis v

1
, v
2
is diagonal will re-scale the two axes so that
1
this line becomes the line
3
.
5. Show that if X Y R
n
are manifolds and i : X Y is inclusion then for each x X, d
x
i : T
x
X T
x
Y is
also inclusion. Its obvious if you use the right denition of derivative.
Solution: Use the denition of d
x
i as the map sending

(0) to i

(0) (version (i) of denition 1.13).

6. i) Let f : X Y X be the projection. Show that d
(x,y)
f : T
(x,y)
X Y T
x
X is also projection.
ii)Fixing any y Y gives an injection mapping f : X XY , dened by f(x) = (x, y). Show that d
x
f( x) = ( x, 0).
iii) Let f : X Y, g : X

be smooth maps, and dene f g : XY X

by f g(x, y) = (f(x), g(y)).

Show that d
(x,y)
(f g) = d
x
f d
y
g.
Solution: (i) Suppose that X R
N
and Y R
P
. The projection X Y X is the restriction to X Y of the
projection : R
N
R
P
R
N
. So its derivative is the restriction to T
(x,y)
X Y = T
x
X T
y
Y of the derivative
of . But is linear, so d
(x,y)
= .
(ii) Use Denition 1.13(i).
(iii) Check rst that this is true for smooth (old) maps. Then if F and G are smooth (old) extensions of f and g
respectively, F G is a smooth (old) extension of f. So d
(x,y)
f g is the restriction to T
(x,y)
XY = T
x
XT
y
Y
of d
(x,y)
F G, which you have checked is equal to d
x
F d
y
G.
7. (i) Prove that R
k
and R

are not dieomorphic if k ,= .

Solution: Suppose g : R

R
k
is a smooth inverse to f that is, g f = id
R
k, f g = id
R
. Then for each
x R
k
and y R

, we have d
f(x)
g d
x
f = d
x
id
R
k = id
R
k and d
g(y)
f d
y
g = d
x
id
R
= id
R
. Thus both derivatives
are linear isomorphisms, and so k = .
(ii) Prove that smooth manifolds M, N of dimension k, cannot be dieomorphic if k ,= .
Solution: Let x M and y = f(x) N, and let and be charts around x and y respectively. If f is a
dieomorphism then so is f
1
. Now the argument of (i) applies, and shows k = .
8. Prove that if M
k
R
n
and N

R
p
are smooth manifolds then M N R
n+p
is a smooth manifold of
dimension k +.
Solution: If (x, y) M N, let : U
1
V
1
be a chart on M around x and let
2
: U
2
V
2
be a chart on N
around y. Then U
1
U
2
is a neighbourhood of (x, y) in MN and
1

2
: U
1
U
2
V
1
V
2
is a dieomorphism.
As V
1
V
2
is open in R
k
R

= R
m+
, M N is a manifold of dimension k +.
9. A Lie group is a manifold G which is also a group, for which the operations of
multiplication:

p : GG G
(g
1
, g
2
) g
1
g
2
and inversion:

i : G G
g g
1
are smooth maps. Show that Gl(n, R) := invertible n n real matrices under multiplication Mat
n
(R) = R
n
2
is a Lie group.
Solution: Gl(n, R) is an open subset of matrix space, which is naturally identied with R
n
2
. The group operations
are matrix multiplication and matrix inversion. Each entry in the product of two matrices is a sum of products
of entries of the two, and thus is a polynomial. And polynomials are smooth. The entries in A
1
are quotients
of polynomials in the entries of A, with nowhere-vanishing denominator. Hence these too are smooth functions of
the entries of A. So both group operations are smooth (old).
10

. Let V be a k-dimensional vector subspace of R

n
. Show that V is a smooth manifold dieomeorphic to R
k
,
and that all linear maps on V are smooth. For each v V , nd a natural isomorphism V T
v
V .
Solution: Choose a basis v
1
, . . ., v
k
for V . The linear map sending v V to its expression as a linear
combination of the v
i
extends to a linear map from R
n
to R
k
. All linear maps R
n
R
k
are smooth. has
inverse (
1
, . . .,
k
)

i
v
i
. So we can take as chart.
2
The term natural is of course rather vague. In my opinion the following construction deserves the term:
given v V and x V , let (t) = x +tv. Then v =

(0) T
x
V. Perhaps the exercise should say T
x
V = V .
11

. i) If M N are manifolds of the same dimension, show that M is open in N (Hint: use exercise 3 and the
inverse function theorem.)
ii) Show that S
1
S
1
is not dieomorphic to any manifold M contained in R
2
. (Hint: S
1
S
1
is compact.)
Solution: Let i : M N be inclusion. Then d
x
i is also inclusion. As the dimM = dimN, d
x
i is an isomorphism.
The inverse function theorem tells us that there is a neighbourhood U of x in M and a neighbourhood V of i(x)
in N such that i : U V is a dieomorphism. Of course U must equal V ; because V is open in N, so is U, and
thus M is open in N.
(ii) If S
1
S
1
were dieomorphic to some M R
2
then by (i), M would be open in R
2
. It would also be compact,
and therefore closed in R
2
. The only subsets of R
2
whoich are both open and closed are and R
2
, neither of which
is dieomorphic to S
1
S
1
.
12

. If G is a Lie group, the tangent space T

e
G is known as the Lie algebra of G. Show that the following are
Lie groups, and determine their Lie algebras: i) Sl(n, R) = A Gl(n, R)[det(A) = 1 ii) 0(k, n k) = A
Gl(n, R)[A
t
I
k,nk
A = I
k,nk
, where I
k,nk
is the n n matrix with k 1s followed by (n k) -1s down the
diagonal, and 0s elsewhere.
Solution: (i) By Exercise 11 below, for each invertible matrix A, d
A
det is surjective. In particular 1 is a regular
value of det, so Sl(n, R) is at least a manifold. Since the group operations are the restriction of the smooth (old)
group operations in those of the ambient manifold Gl(n, R), they are smooth (new) and so Sl(n, R) is a Lie group.
Its tangent space at I is equal to the kernel of d
I
det. The formula given in the solution to Exercise 11 shows that
this is equal to the set of all matrices with trace 0.
(ii) Let f : Mat
nn
(R) Sym
n
(R) be the map sending A to A
t
I
k,nk
A. Then O(k, n k) = f
1
(I
k,nk
), and it
is necessary to show that I
k,nk
is a regular value. This is easily done by a small modication of the argument in
1.28(ii) in the Lecture Notes, as is the calculation of T
e
O(k, n k).
13

. i) Find the derivative of the map det : M(n, R) R, where M(n, R) is the vector space of n n matrices
with real entries. Dont attempt to dierentiate a complicated polynomial in the entries; instead, use the fact that
the determinant is linear in each row of the matrix.
ii) Prove that the set of all 2 2 matrices of rank 1 is a three-dimensional submanifold of R
4
= space of 2 2
matrices. Hint: prove that the determinant function is a submersion at every point of the manifold of non-zero
2 2 matrices.
Solution: (i) Represent a each matrix as an n-tuple of columns: A = (a
1
, . . ., a
n
), B = (b
1
, . . ., b
n
), etc. Then
d
A
det(B) = lim
h 0
det(A+hB) det A
h
= lim
h 0

det(a
1
+hb
1
, . . ., a
n
+hb
n
) det(a
1
+hb
1
, . . ., a
n1
+hb
n1
, a
n
)
h
+
det(a
1
+hb
1
, . . ., a
n1
+hb
n1
, a
n
) det(a
1
+hb
1
,
n2
+hb
n2
, a
n1
, a
n
)
h
+
+
det(a
1
+hb
1
, a
2
, . . ., a
n
) det(a
1
, . . ., a
n
)
h

Each summand is the dierence of the determinants of two matrices diering only in one column. By linearity in
the i-th column,
det(a
1
, . . ., a

i
, . . ., a
n
) det(a
1
, . . ., a

i
, . . ., a
n
) = det(a
1
, . . ., a

i
a

i
, . . ., a
n
)
and so d
A
det(B) =
lim
h 0

det(a
1
+hb
1
, . . ., a
n1
+hb
n1
, hb
n
)
h
+ +
det(a
1
+hb
1
, . . ., a
i1
+hb
i1
, hb
i
, a
i+1
, . . ., a
n
)
h
3
+ +
det(hb
1
, a
2
, . . ., a
n
)
h

= lim
h 0

det(a
1
+hb
1
, . . ., a
n1
+hb
n1
, b
n
) + + det(a
1
+hb
1
, . . ., a
i1
+hb
i1
, b
i
, a
i+1
, . . ., a
n
)
+ + det(b
1
, a
2
, . . ., a
n
)

= det(a
1
, . . ., a
n1
, b
n
) + + det(a
1
, . . ., a
i1
, b
i
, a
i+1
, . . ., a
n
) + + det(b
1
, a
2
, . . ., a
n
)

= det(a
1
, . . ., a
n1
, b
n
) + + det(a
1
, . . ., a
i1
, b
i
, a
i+1
, . . ., a
n
) + + det(b
1
, a
2
, . . ., a
n
).
(ii) If A has rank 1 then A ,= 0. Suppose a
1
,= 0. Then there is some R such that a
2
= a
1
. Using the formula
from (i), it is now easy to nd B such that d
A
det(B) ,= 0.
14.(i) Let i : Gl(n, R) Gl(n, R) be the inversion map, i(A) = A
1
. Find d
A
i. Hint: Proposition 1.17 of the
lecture notes gives the answer when A is the identity matrix I
n
. For a general A, apply the chain rule to the
commutative diagram
(Gl(n, R), I
n
)
i
(Gl(n, R), I
n
)

A
r
A
1
(Gl(n, R), A)
i
(Gl(n, R), A
1
)
in which
A
is left-multiplication by A,
A
(B) = AB, and r
A
1 is right-multiplication by A
1
, r
A
1(C) = CA
1
;
note that both
A
and r
A
1 are the restriction to Gl(n, R) of linear maps on the ambient space of all matrices
(= R
n
2
).
Solution: The commutativity of the diagram says:
i
A
= r
A
1 i. (1)
Evaluating both sides on a matrix B, this is simply the familiar fact that
(AB)
1
= B
1
A
1
.
Applying the chain rule to (1) and taking derivatives at I
n
on both sides we get
d
A
i d
In

A
= d
In
r
A
1 d
In
i. (2)
Now the two maps
A
and r
A
1 are both the restrictions to Gl(n, R) of maps which are linear on the ambient
vector space (of all n n matrices). Hence the derivative (at any point) of
A
is just
A
itself, and similarly the
derivative of r
A
1 is r
A
1 itself. So (2) becomes
d
A
i
A
= r
A
1 d
In
i = r
A
1
(the last equality because we know from 1.17 (i) in the Lecture Notes that d
In
i is just multiplication by 1). As

A
is a linear isomorphism with inverse
A
1, we conclude
d
A
i = r
A
1
A
1,
or, in other words, for any element B T
A
Gl(n, R) = Mat
nn
(R), we have
d
A
i(B) = A
1
BA
1
.
15

. (Stack of records theorem). Suppose that M and N are smooth manifolds of the same dimension, with M
compact, f : M N is a smooth map, and that y is a regular value of f. Show that f
1
(y) is nite, and that
there exists a neighbourhood V of y in Y such that f
1
(V ) is a disjoint union of open sets of X, each of which is
mapped dieomorphically to V by f. Does either statement still hold if we drop the requirement that X be compact?
4
Solution: By the inverse function theorem, for each x f
1
(y), there exists an open neighbourhood U
x
of x on
which f is a dieomorphism. The union of the U
x
cover the compact set f
1
(y), so there is a nite subcover. As
each U
x
only contains one preimage of y, there can be only nitely many of the xs. Number them x
1
, . . ., x
n
, and
write U
i
in place of U
x
i
. Shrink the U
i
until U
i
U
j
= if i ,= j. For each i, V
i
:= f(U
i
) is an open neighbourhood
of y. Let V =
i
V
i
, and let W
i
= f
1
(V ) U
i
. Then f
1
(V ) = W
1
W
n
, the W
i
are mutually disjoint, and
f : W
i
V is a dieomorphism for each i.
If M is not compact, f
1
(y) may not be nite - consider, for example, the exponential map f : R S
1
f(x) = e
2ix
.
For each x f
1
(y) there is are neighbourhoods U
x
and V
x
of x and y such that f
x
: U
x
V
x
is a dieo, as in the
proof above, but now the intersection of all of the V
x
will not necessaarily be open. In the case of the exponential
map f : R Y , the stack of records theorem still holds, but its easy to modify the domain so that it fails. Take
y = 1, for example. Then f
1
(y) = Z R. Now remove from the domain the points n +1/n for n Z 0, and
write M denote R with all these points removed. The map exp : M S
1
is still a submersion, so at each point
n f
1
(1) there is a neighbourhood U
n
of x and a neighbourhoood V
n
of 1 such that f : U
n
V
n
is a dieo.
Since n + 1/n / U
n
, exp(1 + 1/n / V
n
. We have exp(1 + 1/n) = exp(1/n), and the sequence exp(1/n) tends to 1,
so
n
V
n
is not a neighbourhood of 1.
16. With the hypotheses of the previous exercise, suppose also that f is a local dieomorphism and that Y is
connected. Show that f is onto, and indeed that any 2 points in Y have the same number of preimages in X.
Solution: f is a local dieomorphism means that the derivative of f is everywhere an isomorphism, so the
conclusion of the previous exercise holds for all y Y . It follows that the number of preimages is locally constant:
if y has n preimages, so does every point y

V (notation as in previous exercise). For each n, the set V

n
of points
with n preimages is therefore open. Suppose V
n
,= . Let V

n
=

m=n
V
m
. As a union of open sets, V

n
also is
open, and now if it is not empty then Y = V
n
V

n
is the union of two disjoint non-empty subsets, contradicting
its connectedness.
17. Prove that the following are not manifolds: i) The union of the two coordinate axes in R
2
; ii) the double cone
(x, y, z) R
3
[x
2
+y
2
= z
2
. iii) The single cone (x, y, z) R
3
[x
2
+y
2
= z
2
, z 0
Solution: (i) Many arguments are possible here. For example, removal of the point 0 breaks the set into four con-
nected components, something that cannot happen to any manifold. An alternative argument is that if M
1
R
2
is any manifold and x M then by the inverse function theorem 1.16, in some neighbourhood of x in M, either
the projection to the x
1
axis, or the projection to the x
2
axis is a local dieomorphism, and in particular is 1-1.
Neither is 1-1 in this case.
(ii) The double cone is disconnected by removing the vertex; no 2-manifold is disconnected by removing a single
point. An argument like the second one in (i) also can be used here.
(iii) Many planes through (0, 0, 0) meet the single cone in only one point. By contrast, if M is a smooth surface
in R
3
and x M then any plane through x distinct from the ane plane x + T
x
M is transverse to M at x, and
therefore meets M in a curve in the neighbourhood of x.
18

. Prove that if X R
n
is a (smooth) (n1)-dimensional manifold and x X then for any (n1)-dimensional
vector subspace V of R
n
with V ,= T
x
X, the intersection of the ane subspace x + V with X is smooth and of
dimension n 2 in some neighbourhood of x.
Solution: If V ,= T
x
X then V + T
x
X = R
n
, since T
x
X is a hyperplane and V is not contained in it. Hence
x +V is transverse to X at x, and, therefore, in some neighbourhood of x, (x +V ) X is an (n 2)-dimensional
manifold.
Section C
19

. The tangent bundle of a manifold M R

n
is the set (x, x) M R
n
[ x T
x
M.
(i) Show that TM is a manifold.
5
(ii) Show that TS
1
is dieomorphic to S
1
R.
(iii) Show that if V R
n
is a vector subspace then TV is naturally dieomorphic to V V (see exercise 7).
Solution: (iii) For each x V there is an iso i
x
: V T
x
V . described above in Exercise 10. The map V V TV
sending (x, v) to (x, i
x
(v)) is a dieo.
20. Prove that the set of mn matrices of rank r is a manifold (in Mat
mn
(R) = R
mn
) and nd its dimension.
Hint: Show rst that the set of matrices of rank r is open in Mat
mn
(R) (recall that rank A r A has an
r r submatrix with non-zero determinant). Next, suppose rank(A) r, and after permuting rows and columns,
that A has the form

B C
D E

(3)
where B is nonsingular of size r r. Postmultiply by the nonsingular matrix

I B
1
C
0 I

to prove that rank(A) = r if and only if E DB

1
C = 0.
Solution: Denote the set of matrices of rank r by

r
. The map f,

B C
D E

E DB
1
C,
is dened on the open set U of matrices with top left r r corner invertible. It is a submersion. Hence its zero
locus,

r
U, is a smooth manifold of codimension (mr)(n r) (the dimension of the target space of f).
Now every point of

r
has some rr minor invertible. On the open set U

of matrices for which this particular

minor is non-zero, it is possible to dene a map to the space of (m r) (n r) matrices, of exactly the same
nature as f, whose zero locus is

r
U

. Hence

r
U

is also smooth. As every point of

r
lies in some such
open set, the proof is complete.
21

. Let f be the embedding S

1
S
1
S
1
given by e
i
(e
2i
, e
3i
), and let g be the dieomorphism S
1
S
1
T
2
described in the lecture. Sketch the image of g f. What is it?
Solution Its a trefoil knot.
22. Is it possible to nd an atlas for T R
3
consisting of 2 charts?
6
Solution: There is an atlas mapping each of two open sets in T to an annulus in R
2
. The domains of the two
charts are described most easily in S
1
S
1
:
U
1
= (x
1
, y
y
, x
2
, y
2
) S
1
S
1
: y
1
> 1/2
U
2
= (x
1
, y
y
, x
2
, y
2
) S
1
S
1
: y
1
< 1/2.
23. Prove that if U R
k
is open and f : U R
p
is not smooth then graph(f) R
k
R
p
is not a (smooth) manifold.
24. RP
2
is the identication space obtained from S
2
by identifying antipodal points. (Recall that if X is a
topological space and is an equivalence relation on X, then the identication topology on the quotient space
X/ is dened by declaring a set in X/ to be open if and only if its preimage in X is open.) Show that the
mapping S
2
f
R
6
given by f(x, y, z) = (x
2
, xy, y
2
, xz, yz, z
2
) gives rise to a homeomorphism from RP
2
to a smooth
manifold X R
6
.
7